WIND_COV.hpp
3.23 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef WIND_COV_HPP
#define WIND_COV_HPP
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/wind.h>
class MavlinkStreamWindCov : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamWindCov(mavlink); }
static constexpr const char *get_name_static() { return "WIND_COV"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_WIND_COV; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _wind_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamWindCov(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _wind_sub{ORB_ID(wind)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
bool send() override
{
wind_s wind;
if (_wind_sub.update(&wind)) {
mavlink_wind_cov_t msg{};
msg.time_usec = wind.timestamp;
msg.wind_x = wind.windspeed_north;
msg.wind_y = wind.windspeed_east;
msg.wind_z = 0.0f;
msg.var_horiz = wind.variance_north + wind.variance_east;
msg.var_vert = 0.0f;
vehicle_local_position_s lpos{};
_local_pos_sub.copy(&lpos);
msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : (float)NAN;
msg.horiz_accuracy = 0.0f;
msg.vert_accuracy = 0.0f;
mavlink_msg_wind_cov_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // WIND_COV